Locking system for aligning a device

ABSTRACT

A locking system securing an image scanning device to a container includes a first and second compressible material. A first securing plate is disposed between the first and second compressible materials, while a second securing plate is adjacent to the second compressible material on a surface opposite a surface of the second compressible material that is adjacent to the first securing plate. A ball is disposed within curved edges of the first and second securing plates, where the curved edges each curve away from the second compressible material. A shaft extends from the ball to the image scanning device. A fastener is secured through the first and second securing plates, and into the securing surface to lock the ball, and subsequently the shaft and image scanning device, in place. The locking system can be secured to a pitched surface to naturally position the image scanning device perpendicular to level ground.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is related to U.S. patent application Ser. No.17/581,685, filed Jan. 21, 2022, and entitled “LIDAR SCANNING SYSTEM ANDMETHODS,” which is hereby expressly incorporated by reference in itsentirety.

BACKGROUND

Grain bins have historically been used as a consolidation point forgrain storage and as a method for drying grain prior to distribution. Itis necessary to accurately measure the amount of grain inside a grainbin. This is particularly necessary during loading and unloading todetermine the quantity of grain being distributed.

SUMMARY

At a high level, aspects described herein relate to an image scanningsystem and methods of use. Particular aspects relate to an imagescanning system and methods for imaging product in a container, such asgrain within a grain bin. Additional aspects of the disclosure relate toa locking mechanism for securing the image scanning system to thecontainer.

The image scanning system provides an accurate way to measure product ina container. This is beneficial in applications such as grain binmonitoring because it provides a precise way to measure how much productis being distributed, which is necessary for farming and supply chainoperations. To enhance the accuracy and precision for productmeasurement, the image scanning system uses a Light Detection andRanging (LiDAR)-based image scanning device.

The image scanning device is used to generate point clouds of an area.To enhance the area over which the point clouds can be generate, andthus better determine volume and area information within the container,the image scanning device is comprised within an image scanning head ofthe image scanning system. The image scanning system further comprises abase housing and a securing arm.

The image scanning head is rotatably coupled to the base housing, andthe base housing is rotatably coupled to the securing arm. The imagescanning head is configured to rotate in a first direction about thebase housing, while the base housing is configured to rotate in a seconddirection about the securing arm. The first direction is aboutperpendicular to the second direction. In this way, the image scanningdevice within the image scanning head can be positioned at any angle todetermine position and distance information for distance points of apoint cloud. The base housing may include motors, such as steppermotors, to rotate the image scanning head and the base housing.

For imaging, the image scanning head can include a window that istransparent to the radiation wavelength utilized by the image scanningdevice. A brush is included on the securing arm located at a positionwithin a plane of rotation formed from rotation of the base housingabout the securing arm. That is, the brush can extend parallel to theplane of rotation formed from rotation of the base housing about thesecuring arm. In some positions, when rotating the base housing, thewindow engages the brush so that the brush moves across the windowduring rotation. The brush helps shed debris that may block penetrationof the radiation wavelength through the window.

The image scanning system is generally positioned within the containerthat it is imaging. To do so, the present disclosure also provides for alocking system that correctly positions the image scanning system wheninstalled and locked in place.

The locking system comprises a first compressible material and a secondcompressible material. A first securing plate is disposed between thefirst and second compressible materials, and a second securing plate ispositioned adjacent to a second compressible material top surface. Insome cases, the first or second compressible material is affixed to thefirst securing plate.

The first securing plate comprises a first curved edge that forms afirst securing plate opening perimeter edge around a first securingplate opening. The first curved edge curves in a first direction awayfrom the second compressible material. The second securing platecomprises a second curved edge. The second curved edge curves in asecond direction away from the second compressible material. A ball isposition at least partially within the first curved edge and the secondcurved edge, and it is generally held rotationally in place by the firstand second securing plates. A shaft can extend from the ball to theimage scanning system.

To secure the image scanning system in place, the image scanning systemis placed through an opening of the container, and the locking system isfastened to a surface, i.e., a securing surface, of the container. Thefasteners extend through the first and second securing plates, and thus,when fastened, compress at least the second compressible material suchthat the first and second plates exert a force on the ball. The forceexerted by the secured plates generally rotationally locks the ball inplace, thereby locking the image scanning system into position.

This summary is intended to introduce a selection of concepts in asimplified form that is further described in the detailed descriptionsection of this disclosure. The summary is not intended to identify keyor essential features of the claimed subject matter, nor is it an aid indetermining the scope of the claimed subject matter. Additional objects,advantages, and novel features of the technology will be set forth inpart in the description that follows, and in part will become apparentto those skilled in the art upon examination of the disclosure orlearned through practice of the technology.

BRIEF DESCRIPTION OF THE DRAWINGS

The present technology is described in detail below with reference tothe attached drawing figures, wherein:

FIG. 1A is an example image scanning system, in accordance with anaspect described herein;

FIG. 1B is an example locking system that can be used to lock the imagescanning system of FIG. 1A into position, in accordance with an aspectdescribed herein;

FIG. 2 is a partially exploded view of the image scanning system of FIG.1A, in accordance with an aspect described herein;

FIG. 3 is another partially exploded view of the image scanning systemof FIG. 1A, in accordance with an aspect described herein;

FIGS. 4A-4E is a series of illustrations showing a perspective view ofthe image scanning system of FIG. 1A during rotation in a firstdirection and a second direction, in accordance with aspects describedherein;

FIG. 5 is an exploded view of the locking system of FIG. 1B, inaccordance with an aspect described herein;

FIG. 6A is a side view of the locking system of FIG. 1B, in accordancewith an aspect described herein;

FIG. 6B is a cross-sectional side view of the locking system of FIG. 1B,in accordance with an aspect described herein;

FIG. 7 is a an example image scanning system locked into position withina container using an example locking system, in accordance with anaspect described herein;

FIG. 8 is an example operating environment for a controller suitable foroperating the image scanning system of FIG. 1A, in accordance with anaspect described herein;

FIG. 9A is an example point cloud determined during a scan of acontainer using an image scanning device, such as the image scanningdevice of FIG. 1A, in accordance with an embodiment described herein;

FIG. 9B is an enhanced view of a portion of the point cloud from FIG.9A, in accordance with an aspect described herein;

FIGS. 9C-D illustrate example geometric relationships to aid indetermining distance values for the position of an image scanningsystem, such as the image scanning system of FIG. 1A, on a container foruse in adjusting distance information determined by the image scanningsystem, in accordance with aspects described herein;

FIG. 9E is an example point cloud generated using the image scanningsystem of FIG. 1A, in accordance with an aspect described herein;

FIG. 10 is an example illustration of a one-dimensional typographicalrepresentation of product in a container, as generated using the imagescanning system of FIG. 1A, in accordance with an aspect describedherein;

FIG. 11 is an example method for manufacturing an image scanning system,in accordance with an embodiment described herein;

FIG. 12 is an example method for providing a product volume change usingan image scanning system, in accordance with an aspect described herein;

FIG. 13 is an example method of manufacturing a locking device, inaccordance with an aspect described herein;

FIG. 14 is an example method of using a locking device, in accordancewith an aspect described herein; and

FIG. 15 is an example computing device suitable for implementing aspectsof the described technology, in accordance with an aspect describedherein.

DETAILED DESCRIPTION

In many industrial settings, bulk product measurement is key to supplychain operations. For instance, farming operations grow and harvest aproduct. In many cases, this product is consolidated and stored atcentral locations, such as silos, elevators, warehouses, and the like.It is important to accurately measure the amount of product in acontainer, especially when product is being added or removed from thecontainer.

This disclosure provides an improved system for accurately and preciselymeasuring product in containers. As used herein, a container isgenerally any structure for holding a product. Containers can includewarehouse floors, silos, elevators, bunkers, bins, and so forth. Aproduct is intended to include anything agricultural or manufacturingproduct that can be held within a container. For instance in a grainelevator, the product may be grain. Products can include sugar, grain,legumes, seeds, beets, and the like stored in containers. As examples, aproduct may include grain within a grain bin, while a product may alsoinclude sugar piled on a warehouse or other structure floor. Thus, itwill be understood that “container” and “product” are to be broadlyinterpreted.

In many cases, it can be challenging to accurately measure the volume,including a change in volume, of a product within a container. Forexample, existing methods of volume measurements for grain elevatorsinclude visual observation of a height measuring device runningvertically along a silo wall. However, the accuracy is limited becauseproduct can form a cone shape when filled and may form a funnel shapewhen distributed from the base of the silo. Since the product is notflat, it can be challenging or impossible to account for these changeswhen making volumetric determinations.

Another traditional method includes weighing a product in the containerand the amount removed from a container. This method, too, haslimitations. Even product of a same product type can vary in density.For instance, a grain having more moisture will be denser than a grainhaving less moisture. Thus, when mixed in the container, it ischallenging to determine a volume based on the product weight, since thedensity can fluctuate across the container. Moreover, in manyagricultural operations, products are placed in containers to dry orcure after harvesting. In this instance, the density of the productchanges over time. For these reasons, among others, weight-basedmeasurements can introduce error when determining the amount of aproduct in a container. These errors propagate through the supply chain,since such errors, in many cases, may cause discrepancies between theamount of a product that has been listed on upstream harvest manifoldsand the amount of product received by a downstream supplier.

To overcome these challenges, the present disclosure provides for animage scanning system that accurately and precisely provides volumetricmeasurements of products in a container.

One example of an image scanning system that achieves these benefitscomprises an image scanning head that includes an image scanning device.The image scanning head is rotatably coupled to a base housing, and thebase housing is rotatably coupled to a securing arm. The image scanninghead rotates about the base housing in a first direction perpendicularto the rotation of the base housing about the securing arm. In this way,the image scanning device of the image scanning system can image in anydirection.

The image scanning device comprised within the image scanning head canutilize LiDAR to image a surrounding area. In general, a LiDAR system,or other electromagnetic radiation-based image system, emits a radiationwavelength that is reflected from its surroundings and is detected by adetector of the image scanning device. This is translated into distanceinformation that results in an “image,” e.g., a point cloud, of thesurrounding area, since the image scanning device can be rotated to anyposition by the image scanning system.

The image scanning system can be used to image and determine volumetricinformation for product in a container by placing the image scanningsystem within the container and initiating an image scanning process.Moreover, the image scanning system can be used as part of acomprehensive agricultural supply chain process to aid in tracking andmeasuring agricultural products from the field throughout the downstreamsupply chain. As part of this comprehensive product tracking andmeasurement process, the image scanning system can be used incoordination with other tracking and measuring devices for agriculturalproducts. One such example is included in U.S. patent application Ser.No. 15/794,463, filed on Oct. 26, 2017, entitled “Farming DataCollection and Exchange System,” granted as U.S. Pat. No. 11,126,937,which is expressly incorporated herein by reference in its entirety.

The image scanning system can be held in place within the containerusing a locking system. The locking system comprises a firstcompressible material and a second compressible material. A firstsecuring plate is disposed between the first compressible material andthe second compressible material, while a second securing plate isadjacent to a first compressible material top surface.

The first securing plate comprises a first curved edge that forms afirst securing plate opening perimeter edge around a first securingplate opening. The first curved edge curves in a first direction awayfrom the second compressible material. The second securing platecomprises a second curved edge that curves in a second direction awayfrom the second compressible material. The first direction is oppositethe second direction.

A ball is positioned within the curved edges of the first securing plateand the second securing plate. A shaft can be secured to the ball andextend away from the ball. In some cases, the shaft extends away fromthe ball in the first direction. The shaft can be used to hold the imagescanning device within the container, while the locking system issecured to a securing surface, which can be a container surface on theoutside of the container.

This locking system arrangement is beneficial because it allows thelocking system to be placed at an angle, which occurs when the securingsurface of the container has a pitch. However, the ball rotates andallows the shaft to naturally align perpendicular to level ground due togravity.

The locking system can be fastened in place by fasteners that extendthrough the first securing plate and the second securing plate. Whentightened, the fasteners compress at least the second compressiblematerial, which decreases a distance between the first securing plateand the second securing plate. This causes the first securing plate andthe second securing plate to exert a force on the ball, increasing theforce required to rotate the ball, and thus move the shaft, to adifferent position. As such, the shaft is locked into position uponengaging and securing the fasteners of the locking system.

In operation, the image scanning system can perform a first scan of theareas within the container, including an area of the product in thecontainer. Based on this scan, the image scanning system collectsdistance information in the form of a point cloud to different distancepoints within the container. Subsequent to completing the first scan,the image scanning system can be used to perform a second scan of theareas within the container. The change in the distance points of thepoint cloud can be used to determine a volume change of the product inthe container, and this volume change can be provided to a computingdevice for display on an interface of the computing device.

It will be realized that the systems and methods previously describedare only examples that can be practiced from the description thatfollows, which is provided to understand the technology and recognizeits benefits more easily. Additional examples are now described withreference to the figures.

Referencing first FIG. 1A, an example image scanning system 100 isillustrated. As illustrated, image scanning system 100 comprises imagescanning head 102, body housing 104, and securing arm 106. Securing arm106 is illustrated as coupled to shaft 110 in the figure. It will beunderstood that image scanning system 100 of FIG. 1, and relatedfigures, is provided as an example of the technology. The inventorscontemplate that embodiments may have additional or fewer components,and may have different arrangements. However, providing each and everypossibility would be impracticable.

Image scanning system 100 of FIG. 1A may be used to determine productvolume and changes in product volume of a product in a container, amongother applications. Some of which will be described in more detailthroughout this disclosure. To do so, image scanning system 100 scansthe contents of a container, including the walls and a product within acontainer. To scan the entire contents, image scanning system 100rotates various components in different directions of rotation. In thisway, components of image scanning system 100 can position an imagescanning device in any direction to scan the product in the container,as will be further described.

To provide such a comprehensive scan, image scanning device 100comprises image scanning head 102 which is rotatably coupled to bodyhousing 104. Body housing 104 is rotatably coupled to securing arm 106.Image scanning head 102 is rotatably coupled to body housing 104 suchthat rotation of image scanning head 102 about body housing 104 occursin a first direction. Additionally, body housing 104 is rotatablycoupled to securing arm 106 such that rotation of body housing 104 aboutsecuring arm 106 occurs in a second direction. The first direction isabout perpendicular to the second direction. In a specific case, thefirst direction is perpendicular to the second direction. By configuringthe rotation of components of image scanning device 100 in this way, aface of image scanning head 102 can be angled in any direction tofacilitate scanning the container and product.

FIG. 2 illustrates a partially exploded view of image scanning system100 from FIG. 1A. In particular, FIG. 2 illustrates one example methodof rotatably coupling image scanning head 102 to body housing 104, andbody housing 104 to securing arm 106.

In the example illustrated by FIG. 2, image scanning head 102 isrotatably coupled to body housing 104 using first rotary joint 112.Further, the body housing 104 is rotatably coupled to securing arm 106using second rotary joint 114. Some rotatory joints, such as firstrotary joint 112 and second rotary joint 114 provide 360-degreebi-directional rotation, and such rotary joints are suitable for use inthe present technology. These allow image scanning head 102 and bodyhousing 104 to fully rotate in a first direction and a second direction,respectively. Moreover, bi-directional rotary joints allow each of theimage scanning head 102 and body housing 104 to rotate forward andbackward in the first direction and the second direction. Rotation ofimage scanning head 102 about body housing 104 creates a first plane ofrotation, while rotation of body housing 104 about securing arm 106creates a second plane of rotation about perpendicular, orperpendicular, to the first plane of rotation.

In aspects, rotary joints can be selected to facilitate communicationbetween components of image scanning system 100, including communicationmessaging or power. That is communication or power can be transmittedthrough the rotary joints.

In the example illustrated, body housing 104 is coupled to securing arm106 at first securing arm end 118A. That is, securing arm 106 comprisesfirst securing arm end 118A opposite second securing arm end 118B. Firstsecuring arm end 118A is delineated from second securing arm end 118Busing first theoretical dashed line 120. Securing arm 106 also comprisesfirst securing arm side 108A and second securing arm side 108B oppositefirst securing arm side 108A. Body housing 104 can be coupled tosecuring arm 106 at first securing arm side 108A.

As further illustrated in FIG. 2, securing arm 106 comprises brush 116.Brush 116 is positioned on first securing arm side 108A. As will bedescribed further, brush 116 is positioned to engage window 126 of imagescanning head 102 during rotation. This helps remove any dust or debristhat accumulates on window 126, which facilitates image scanning device100 scanning a container or product. Put another way, brush 116 can bepositioned within a second plane of rotation that is formed fromrotation of body housing 104 about securing arm 106. In a specificconfiguration, brush 116 is oriented parallel with the second plane ofrotation.

Securing arm 106 in FIG. 2 is shown coupled to shaft 110. In aspectswhere shaft 110 is separate from securing arm 106, first shaft end 124Aof shaft 110 can be coupled to securing arm 106 at second securing armend 118B. As will be understood, in the example image scanning system100 shown, shaft 110 and securing arm 106 are separate components. Inother embodiments, these can be the same components, and securing arm106 and shaft 110 may generally illustrate regions of the singlecomponent.

While not illustrated, securing arm 106 may comprise a securing armchannel. The securing arm channel may open at a location correspondingto a location on first securing arm end 118A where base housing 104 iscoupled to securing arm 106 via second rotary joint 114. The securingarm channel may extend through and within securing arm 106, and open ata location corresponding to a location where shaft 110 on secondsecuring arm end 118B is coupled to securing arm 106. The securing armchannel may comprise a wire extending through the securing arm channeland engaging second rotary joint 114 to provide for communication orpower to components within base housing 104 and image scanning head 102.

FIG. 3 provides another partially exploded view of image scanning system100 of FIG. 1A. Image scanning head 102 is illustrated as comprisingwindow 126. Window 126 may comprise all of or a partial surface of aface of image scanning head 102. As will be described, window 126 can becoupled to an open area of the face of image scanning head 102. Windowflange 128 can be used to facilitate coupling window 126 to imagescanning head 102, in some configurations.

In general, image scanning head 102 comprises image scanning device 130.Image scanning device 130 is configured to measure distance usingelectromagnetic radiation. It is contemplated that any radiationwavelength in the electromagnetic spectrum can be used. For instance,LiDAR, radar (radio detection and ranging), and the like may be usedwith the present technology.

While various systems may be used, LiDAR has been found particularlysuitable in the present technology. In general, a LiDAR system scans anarea to determine positional information about objects in the scannedarea. The particularities regarding how a LiDAR system functions todetermine positional information is generally known in the art. However,in brief, and at a high level, most LiDAR systems comprise a laserranging system. The range to an object is measured based on how long ittakes an emitted light wave to reflect off the object and return to theLIDAR system.

To do so, image scanning device 130 emits a light source from anemitter, such as a laser emitter. The light can be any wavelength of theelectromagnetic spectrum; however, common LiDAR systems use lasersemitting in a wavelength of 600-1000 nm. Some commonly used lasersinclude carbon dioxide lasers, neodymium-doped yttrium aluminum garnetlasers, semiconductor lasers, wavelength-tunable solid-states lasers,and so forth.

The emitted light source is projected into an area where it reflects offan object and returns back to the LiDAR system. In an example use casecontemplated for the present technology, emitted light is reflected fromthe walls of a container and a product within the container.

To detect the reflected radiation, image scanning device 130 furthercomprises a detector, sometimes called a receiver. The time the lighttakes to return from the emitter to the detector provides the distanceof the object reflecting the light. This can occur continuously, as thelaser emitter emits light pulses at a particular frequency, such as10,000 pulses per second. Scanning over different areas of a spaceprovides the LiDAR system with the ability to map a three-dimensionalspace, and distance information is collected over the area.

In many cases, the resulting scan using image scanning device 130generates points cloud of distance information to represent thethree-dimensional space that is scanned. An example point cloud isillustrated in FIG. 9A as scan 500, illustrating how an empty volume ofa cylindrical container can be generated by image scanning system 100employing image scanning device 130.

To accomplish this, image scanning device 130 can be enclosed withinimage scanning head housing 134 of image scanning head 102. Imagescanning device 130 can be secured within image scanning head housing134 such that lens 132 of image scanning device 130 is aligned withwindow 126. Window 126 can be selected so that it is transparent to thewavelength emitted and detected by image scanning device 130.

While image scanning device 130 is described as comprising both anemitter and a detector, it will be understood that other arrangementsmay also be suitable, and such arrangements are contemplated to bewithin the scope of the present disclosure. For instance, an imagescanning device that could be used may comprise either an emitter or adetector, and a corresponding emitter or detector for the particularradiation wavelength could be located within another component of animage scanning system or be a disparate and distinct component from theimage scanning system of this embodiment.

As noted, to facilitate a three-dimensional scan of the spacesurrounding image scanning device 100, image scanning head 102 ismaneuvered to face all of or a portion of the areas within thethree-dimensional space being scanned. This can be done using rotationof image scanning head 102 about body housing 104 using first motor 136,and body housing 104 about securing arm 106 using second motor 138.

First motor 136 and second motor 138 can be any type of motor. Electricbrushed or brushless motors are suitable. Some aspects of the technologydetermine a position of image scanning head 102 and body housing 104.One method of doing so uses stepper motors for first motor 136 andsecond motor 138, which provide positional information of the motorshaft, and in turn, image scanning head 102 relative body housing 104,and body housing 104 relative to securing arm 106.

In the aspects illustrated as image scanning system 100, first motor 136and second motor 138 are enclosed within body housing 104. Here, firstmotor 136 is configured to rotate image scanning head 102 about bodyhousing 104 by rotating a portion of first rotary joint 112. Secondmotor 138 is configured to rotate body housing 104 about securing arm106 by rotating a portion of second rotary joint 114. However, it willbe understood that other arrangements are suitable and are contemplatedwithin the scope of this disclosure. For instance, one or more motorsoperable to rotate an image scanning head or a body housing can becomprised within the image scanning head. Similarly, one or more motorsoperable to rotate an image scanning head or a body housing may becomprised within a securing arm. Any combination of these arrangementsis also contemplated.

As will be understood, rotation of image scanning head 102 about bodyhousing 104 naturally has a first rotational axis. In the particularexample illustrated, the first rotational axis extends through firstrotary joint 112. Similarly, rotation of body housing 104 about securingarm 106 naturally has a second rotational axis. In this example, thesecond rotational axis extends through second rotatory joint 114. Inaspects, it is beneficial to have the first rotational axis extendthough a first center of mass for image scanning head 102. The firstcenter of mass can be positioned to align with the first rotational axisby applying counterweights to image scanning head 102. By positioningthe first center of mass to align with the first rotational axis, thestrain on first motor 136 is reduced. Likewise, it is also beneficial tohave the second rotational axis extend through a second center of massfor image scanning head 102 and body housing 104. The second center ofmass can be positioned to align with the second rotational axis byapplying counterweights to image scanning head 102 or body housing 104.By positioning the second center of mass to align with the secondrotational axis, the strain on second motor 138 is reduced.

FIGS. 4A-4E provide a series of illustrations showing a perspective viewof image scanning system 100 of FIG. 1A during rotation of imagescanning head 102 in a first direction and body housing 104 in a seconddirection. Using a series of rotations such as these, a face of imagescanning head 102 comprising window 126 can be positioned in anydirection to generate a three-dimensional scan within a container.

Starting at FIG. 4A, image scanning system 100 is at a position wherebody housing 104 is upright and parallel to securing arm 106. Imagescanning system 100 can rotate body housing 104 about securing arm 106forward or backward in a second direction, which is illustrated by thetransition of the position of body housing 104 from FIG. 4A to FIG. 4B.The rotation of body housing 104 about securing arm 106 in the seconddirection forms a second plane of rotation, illustrated by curved arrow140, which also illustrates the direction of rotation of body housing104 in the second direction via the second arrow direction.

Looking to FIG. 4C, the illustration shows rotation of image scanninghead 102 about body housing 104 in a first direction. Image scanningsystem 100 can rotate image scanning head 102 about body housing 104forward or backward in a first direction. In the starting position inFIG. 4B, a face of image scanning head 102 is facing in a forwarddirection away from securing arm 106. As image scanning head 102 isrotated in the first direction, the face comprising window 126 begins torotate away from the forward direction and toward a rearward directionthat faces securing arm 106, illustrated in process by the transition ofimage scanning head 102 from the position illustrated in FIG. 4B to theposition illustrated in FIG. 4C. The rotation of image scanning head 102about body housing 104 in the first direction forms a first plane ofrotation, illustrated by second curved arrow 142, which also illustratesthe direction of rotation of image scanning head 102 in the seconddirection via the first arrow direction.

FIG. 4D illustrates image scanning head 102 completing a 180-degreerotation from the starting position in FIG. 4A and FIG. 4B so that aface comprising window 126 faces rearward toward securing arm 106. Inthis illustration, image scanning head 102 continues to rotate withinthe first plane of rotation, shown by second curved arrow 142.

Transitioning from FIG. 4D to FIG. 4E, body housing 104 is showingcontinuing rotation with the second plane of rotation, illustrated bysecond curved arrow 140. In this example, body housing 104 has reversedto move backward in the first direction, as illustrated by the secondarrow direction of second curved arrow 140. As illustrated, in theposition, window 126 engages brush 116 positioned on securing arm 106.Window 126 is swept along brush 116 by rotation of body housing 104about securing arm 106 in the second direction. If there is dust ordebris on window 126, it is removed by brush 116 during engagement ofwindow 126 with brush 116 as body housing 104 rotates about securing arm106.

It should be understood that FIGS. 4A-4E illustrate an example of therotation that can be performed by components of image scanning system100. As noted, in some aspects, image scanning head 102 can rotateforward and backward about base housing 104 throughout 360 degrees ofrotation in the first direction. Similarly, base housing 104 can rotateforward and backward about securing arm 106 throughout 360 degrees ofrotation in the second direction. Any combination of movement orpositions resulting from this configuration is intended to be within thescope of the disclosure.

As described, image scanning system 100 can be used to scan a containerand product within a container. In some aspects, to do so, imagescanning system 100 is positioned within a container and locked (e.g.,stabilized) into place using a locking system, such as locking system200 provided in FIG. 1B.

Locking system 200 can be used in conjunction with image scanning system100 of FIG. 1A. However, it will be understood that locking system 200may have other applications as well. Locking system 200 provides someadditional advantages. In particular, locking system 200 provides oneway to naturally orient image scanning device 100 into a position forscanning the inside of a container. Moreover, locking system 200 can beused on pitched surfaces, such as the roof of a container, and willnaturally orient image scanning device 100, or any other object, intothe correct position due to gravity acting on the mass of image scanningdevice 100. Once in position, locking system 200 can be “locked” tostabilize image scanning device 100 into the position.

It should be understood that locking system 200 is only an example thatcan be made using the description of the present technology. Otherarrangements, including additional or fewer components are alsocontemplated and intended to be within the scope of the presentdisclosure.

Locking system 200 is illustrated having first compressible material202. First compressible material 202 comprises first compressiblematerial top surface 252 and first compressible material bottom surface254. Locking system 200 also comprises second compressible material 206.Second compressible material 206 comprises second compressible materialtop surface 260 and second compressible material bottom surface 262.

Locking system 200 further comprises first securing plate 204. Firstsecuring plate 204 comprises first securing plate top surface 256 andfirst securing plate bottom surface 258. Locking system 200 alsocomprises second securing plate 208. Second securing plate 208 comprisessecond securing plate top surface 264 and second securing plate bottomsurface 266.

First securing plate 204 is disposed between first compressible material202 and second compressible material 206. First securing plate 204 isdisposed between first compressible material top surface 252 and secondcompressible material bottom surface 262. In some cases, first securingplate 204 is disposed between and adjacent to first compressiblematerial top surface 252 and second compressible material bottom surface262. In some aspects, first compressible material 202, secondcompressible material 206, or both are affixed to first securing plate204. In some aspects, first compressible material 202, secondcompressible material 206, or both are spaced apart from first securingplate 204, and held in position with fasteners, such as those that willbe further described.

Second securing plate 208 is positioned adjacent second compressiblematerial 206 opposite first securing plate 204. Adjacent here includessecond securing plate 208 being next to second compressible material 206without another object between second securing plate bottom surface 266and second compressible material top surface 260. Adjacent can includedirectly contacting or spaced apart without another object between thecomponents.

First compressible material 202 can comprise first compressible materialperimeter edge 212 defining first compressible material opening 214.First compressible material opening 214 can be located at a centralposition of first compressible material 202.

Second compressible material 206 can comprise second compressiblematerial perimeter edge 222 defining first compressible material opening224. Second compressible material opening 224 can be located at acentral position of second compressible material 206.

First securing plate 204 comprises first curved edge 216. By “curved,”it is meant that a portion of first securing plate 204 or anothercomponent affixed to first securing plate 204 deviates in a directionaway from a plane across which first securing plate 204 extends. Incases, first curved edge 216 extends away from the plane across whichfirst securing plate 204 extends at an angle less than 90 degrees. Tofurther assist in locking, and apply a force to ball 234, as will bedescribed in more detail, first curved edge 216 extends away from theplane across which first securing plate 204 extends at an angle of equalto or less than 45 degrees.

First curved edge 216 can form a first securing plate opening perimeteredge 218 that defines a first securing plate opening 220. In aspects,first securing plate opening perimeter edge 218 is positioned inwardfrom first securing plate perimeter edge 246 that comprises an outerterminal edge of first securing plate 204. As illustrated, first curvededge 216 may curve in a first direction away from second compressiblematerial 206. In some cases, first curved edge 216 may curve into firstcompressible material opening 214.

Second securing plate 208 comprises second curved edge 226. Similarly, aportion of second securing plate 208 or another component affixed tosecond securing plate 208 deviates in a direction away from a planeacross which second securing plate 208 extends. Similarly, second curvededge 226 extends away from the plane across which second securing plate208 extends at an angle less than 90 degrees. To further assist inlocking, and apply a force to ball 234, as will be described in moredetail, second curved edge 226 extends away from the plane across whichsecond securing plate 208 extends at an angle of equal to or less than45 degrees.

Second curved edge 226 can form a second securing plate openingperimeter edge 228 that defines a second securing plate opening 230. Inaspects, second securing plate opening perimeter edge 228 is positionedinward from second securing plate perimeter edge 248 that comprises anouter terminal edge of second securing plate 208. As illustrated, secondcurved edge 226 may curve in a second direction away from secondcompressible material 206. In some cases, first curved edge 216 maycurve into flange opening 232 of flange 210. As shown by first curvededge 216 and second curved edge 226, the first direction is opposite thesecond direction.

While the aspect illustrated comprises a layering of first compressiblematerial 202, first securing plate 204, second compressible material206, and second securing plate 208, it should be noted that some aspectsof the technology might have different arrangements, with more or fewercomponents. For instance, it is contemplated that first securing plate204 and second securing plate 208 could be arrangement adjacent to oneanother, e.g., without having second compressible material 206 disposedbetween them. In such aspects, another material or no material at allmay be positioned between first securing plate 204 and second securingplate 208.

Ball 234 can be positioned at least partially within first curved edge216 or second curved edge 226. Turning briefly to FIG. 6A, FIG. 6Aillustrates a side view of locking device 200. As shown, ball 234 ispositioned at least partially within first curved edge 216 and secondcurved edge 226. This is also illustrated in the cross-sectional sideview shown in FIG. 6B. All of or a portion of ball 234 can be positionedbetween first curved edge 216 and second curved edge 226. In aspectswhere ball 234 is partially positioned within first curved edge 216 andsecond curved edge 226, first ball end 268, which is opposite secondball end 270, may extend through first securing plate opening 220 offirst securing plate 204. In some cases, second ball end 270 may extendthrough second securing plate opening 230 of second securing plate 206.To facilitate positioning ball 234 within first curved edge 216 andsecond curved edge 226, a diameter of ball 234 can be greater than adiameter of each of first securing plate opening 220 and second securingplate opening 230.

In aspects, ball 234 is coupled to shaft 110. As described, embodimentsof the technology comprise shaft 110 that couples locking device 200 toan image scanning device, such as image scanning device 100 of FIG. 1A.Shaft 110 comprises first shaft end 124A that extends to second shaftend 124B. Shaft 110 can be a hollow shaft comprising a shaft channelthat opens at each of first shaft end 124A and second shaft end 124B. Inthis arrangement, shaft 110 is coupled at second shaft end 124B to firstball end 268 of ball 234. Shaft 110 is coupled such that a shaft channelopens into ball channel 272, which extends from first ball end 268though a center of ball 234 to second ball end 270. As will bedescribed, the shaft channel and ball channel 272 may facilitatecommunication between components by permitting a wire for communicationor power to extend through ball channel 272 into the shaft channel.

Turning back to FIG. 5 and with reference to FIG. 1A, aspects of thetechnology include controller housing 122 coupled to locking system 200.Controller housing can comprise a controller configured to operate animage scanning system, or another device, used in conjunction withlocking system 200. It should be understood that, while the exampleillustrated is suitable for positing a controller within controllerhousing 122, a controller may be positioned at any location, and maycomprise one or more pieces of hardware. For instance, a controller canbe comprised within components of an image scanning system 100, such asimage scanning head 102, body housing 104, or securing arm 106. Inaspects, the controller is a disparate and distinct component wirelesslycommunicating with components of image scanning system 100. Thus, whilecontroller housing 122 is illustrated coupled to locking system 200, theillustrations of the present disclosure intend to provide an examplethat is suitable for practicing the technology, although any arrangementof features and components is still contemplated. In embodiments,controller housing 122 is coupled to locking system 200 with the aid ofa housing flange 210. Controller housing 122 may comprise an openingthrough which wires for communication or power may pass through andinto, for example, ball channel 272. While controller housing 122 isdescribed as housing a controller, it will be understood that controllerhousing 122 can be more generally referred to as a “housing” that cancomprise other components as well, such as communication components forcommunicating information through a wireless network.

To facilitate installation of locking system 200 and to lock lockingsystem 200, a fastener can be placed through first securing plate 204and second securing plate 208 and into a securing surface. Toillustrate, first securing plate 204 comprises one or more firstfastener holes 236A-236C. Similarly, second securing plate 208 comprisesone or more second fastener holes 238A-238C. When locking system 200 isassembled by positioning first securing plate 204 between firstcompressible material 202 and second compressible material 206, andpositioning second securing plate 208 adjacent to second compressiblematerial 206, one or more first fastener holes 236A-236C are alignedwith one or more second fastener holes 238A-238C such that a fastener,such as one or more fasteners 240A-240C, can be inserted through thefastener holes in the first direction. The fastener, such as one or morefasteners 240A-240C, may include a bolt, screw, nail, and the like.

In some cases, such as the one illustrated, first compressible material202 comprises one or more third fastener holes 242A-242C, and secondcompressible material 206 comprises one or more fourth fastener holes244A-244C. When locking system 200 is assembled as described, one ormore third fastener holes 242A-242C align with one or more fourthfastener holes 244A-244C, such that a fastener, such as one or morefasteners 240A-240C, can be inserted through the fastener holes in thefirst direction.

FIGS. 6A-6B provide illustrations of locking system 200 after beingassembled. Referring to these figures, fasteners 240A and 240B, and anyother fasteners of locking system 200 can be engaged in a manner suchthat a distance between first securing plate 204 and second securingplate 208 is reduced. This causes first securing plate 204 and secondsecuring plate 208 to exert a force on ball 234, which in turn,increases the force required to rotate ball 234 within the area betweenfirst curved edge 216 and second curved edge 226 where ball 234 ispositioned, thus “locking” it into position. Said differently, afastener, such as fastener 240A or 240B, can be engaged so that secondcompressible material 206 transitions from an expanded state to acompressed state to lock ball 234 into position. This can also occurwhen securing the fastener into a securing surface, such as the roof ofa container, since the fastener is engaging first securing plate 204 andsecond securing plate 208 as it is being secured into the securingsurface. In some cases, locking base flange 250 can be used to aid insecuring the fastener to the securing surface. The fastener beingsecured into the securing surface further supports locking system 200 onthe securing system such that it does not move about the securingsurface.

An example of this is illustrated in FIG. 7. FIG. 7 includes container300 having within it product 302. For example, this may be a silostoring a farmed product. Image scanning system 304, which cancorrespond to any image scanning system described herein, is locked intoplace within container 300 using locking system 306, which cancorrespond to any locking system described herein.

FIG. 8 provides an example control system 400 suitable for operatingimage scanning system 100 of FIG. 1, or any other image scanning systemdescribed herein. Control system 400, as illustrated in FIG. 8,comprises controller 402 in communication with image scanning device 404and motors 406. Image scanning device 404 and motors 406 are examplessuitable for, and may generally correspond with, an image scanningdevice and motors described in any embodiment of this disclosure, suchas image scanning system 100. Additionally, while illustrated ascommunicating with only image scanning device 404 and motors 406, itwill be understood that controller 402 may be configured tooperationally control other devices and components not shown.

As illustrated, controller 402 additionally communicates with datastore408 and computing device 410. While controller 402 is illustrated asdirectly communicating with image scanning device 404, motors 406, anddatastore 408, while wirelessly communicating with computing device 410,it will be understood that controller 402 can communicate with any ofthe components shown, and with components not shown, in any manner andcombination, and that the communication illustrated by control system400 is but one example.

In general, any components of FIG. 8 can communicate through directwiring or wireless communication through a network. As an example,suitable wireless networks include one or more networks (e.g., publicnetwork or virtual private network “VPN”) or one or more local areanetworks (LANs), wide area networks (WANs), or any other communicationnetwork or method.

Datastore 408 generally stores information including data, computerinstructions (e.g., software program instructions, routines, orservices), or models used in embodiments of the described technologies.Although depicted as a single database component, datastore 408 may beembodied as one or more datastores or may be in the cloud. Datastore408, while illustrated as a standalone component, in other embodiments,may be integrated with another component, such as any component ofcontrol system 400, including computing device 410, or remotely accessedby any other component.

Computing device 410 may be any computing device, including a computingdevice having an interface component, such as an output component, forcommunicating information received from controller 402. An examplecomputing device suitable for use includes computing device 1500 of FIG.15.

It is emphasized that any additional or fewer components, in anyarrangement, may be employed to achieve the desired functionality withinthe scope of the present disclosure. Although the various components ofFIG. 8 are shown with lines for the sake of clarity, in reality,delineating various components is not so clear, and metaphorically, thelines may more accurately be grey or fuzzy. Although some components ofFIG. 8 are depicted as single components, the depictions are intended asexamples in nature and in number, and are not to be construed aslimiting for all implementations of the present disclosure. Otherarrangements and elements (e.g., machines, interfaces, functions,orders, and groupings of functions, etc.) can be used in addition to orinstead of those shown, and some elements may be omitted altogether.

Further, many of the elements described in relation to FIG. 8, such asthose described in relation to controller 402 (e.g., scanner 412, imageprocessor 414, volume determiner 416), are functional entities that maybe implemented as discrete or distributed components or in conjunctionwith other components, and in any suitable combination and location.Various functions described herein are being performed by one or moreentities and may be carried out by hardware, firmware, or software. Forinstance, various functions may be carried out by a processor executingcomputer-executable instructions stored in memory, such as datastore408.

Although many of the functional aspects are illustrated as beingperformed by controller 402, it will be realized that such functionalcomponents may be performed by any computing device, including computingdevice 410, and in any combination between controller 402, computingdevice 410, or another computing device. As such, the illustration isintended to be one example, rather than limit the disclosure to aparticular implementation. For instance, controller 402 may be adistinct computing processor executing functions described herein.However, in other cases, controller 402 is included as part of remotecomputing device 410. While illustrated as a single controller, it willbe understood that more than one “controller” can be employed, and maybe located in various arrangements, including within, remote from, orboth an image processing system, such as the image processing system 100of FIG. 1.

Controller 402 can take the form of a control device, and at the mostbasic level, may be embodied as a computer processor. Computer processor1506 of FIG. 15 is an example of a device suitable for use as controller402. Controller 402 can be configured to execute functions stored incomputer memory, such as datastore 408. Example functions areillustrated in FIG. 8 as scanner 412, image processor 414, and volumedeterminer 416. As illustrated, controller 402 is further configured tooperationally control hardware devices of an image scanning system, suchas image scanning device 404 and motor 406. Image scanning device 404and motor 406 can be any of image scanning device or motor describedherein, and can operate in any image scanning system described herein.Controller 402 may operationally control hardware devices, such as imagescanning device 404 or motors 406 using drivers stored at datastore 408.

Controller 402 can employ scanner 412 to scan a container and a productwithin the container. In general, scanner 412 operates to instruct imagescanning device 404 to initiate an image scan. During an image scan,image scanning device 404 emits a radiation wavelength, such as anywavelength along the electromagnetic spectrum, and in particular, any ofthose described herein. The radiation is emitted via an emittercomprised as part of image scanning device 404. In a specific instance,image scanning device 404 may operate as a LiDAR system, and emit aradiation wavelength at or between 600-1000 nm.

During emission, controller 402 operates to control motor 406. Motor 406is intended to embody one or more motors configured to operate within animage scanning system, such as the image scanning system that includesimage scanning device 404. The motor 406, under control of controller402, positions image scanning device 404 via the image scanning systemsuch that image scanning device 404 collects a plurality of distancepoints, e.g., distance values for locations of the container, to form apoint cloud of distance information. That is, as image scanning device404 is maneuvered into different positions, the radiation emissionsemitted by the emitter reflect off different locations, or points, inthe container, and the distance the points are from the detector isdetermined and recorded. This distance information can be stored indatastore 408. Using this method, a hemisphere of distance pointsassociated with various angles of rotation of components of the imagescanning system is collected.

FIG. 9A provides example point cloud, shown within scan 500, generatedduring a scan of container 300 and product 302 by image scanning device304 of FIG. 7, which may comprise components that correspond to imagescanning device 404 under control of scanner 412 of FIG. 8

With reference back to FIG. 8, image processor 414 can be employed toprocess the distance points of the point cloud, e.g., the “image.”Several processing, or preprocessing techniques can be applied to thedistance points by image processor 414. As will be understood, imageprocessor can execute instructions stored on computer-storage media toperform functions that will be described in more detail herein. That it,the functions performable by image processor 414 may be in the form ofcomputer-readable instructions stored on computer-storage media. Asshould be further understood the computer instructions can be configuredsuch that any combination of the functions described herein, in anyorder, are performable by image processor 414.

To process the data points and provide volume and typographicalinformation, image processor 414, in conjunction with volume determiner416, may perform a series of steps that include building a distanceinformation dataset, calibrate positioning, determine volume, andgenerate a topography map.

To build the distance information dataset, image processor 414 cancalculate spherical or Cartesian coordinates for distance points of thedistance information dataset, format distance points into a traversalgraph, and further process that collected distance points.

In general, data comes in from image scanning device 404 as collectionof points in a spherical coordinates system. Any image scanning devicedescribed in this disclosure may be used. When received, the distancepoints may be defined as r (radius), θ (theta), and φ (phi). Here, r isthe distance measure by image scanning device 404, θ is angle of theimage scanning device 404 during the scan, and φ is a pivot angle of theface of the image scanning head comprising image scanning device 404. Insome cases, the initial collection of distance points may be in anon-standard spherical coordinate system, such as one having values from0-180 and 0-360. Here, the range of θ and φ might be off. If so, theycan be converted to a different spherical coordinate system having arange of 0-180 for θ and a range of −90-90 for φ. To do this, thespherical coordinates for the distances points can first be converted tostandard Cartesian coordinates. One example of doing so is provided asfollows:x=−r×cos(θ)×cos(φ)y=r×sin(φ)×sin(θ)z=r cos(θ)The standard Cartesian coordinates of the distance points can then beconverted to standard spherical coordinates. One example of doing so isprovided as follows:

$r = \sqrt{x^{2} + y^{2} + z^{2}}$$\theta = {{acos}\left( \frac{z}{r} \right)}$ φ = atan²(y, z)Standard spherical coordinates can be converted to standard Cartesiancoordinates using the following:x=r×sin(θ)×cos(φ)y=r×sin(θ)×sin(φ)z=r cos(θ)

The data can then be formatted into a traversal graph. In order to moreefficiently traverse the point cloud, we construct a m×n array where mis the range of θ values and n is the range of φ values. It can beassumed that for any point (mi, ni), the point's neighbors may comprise:(mi,ni+1)(mi,ni−1)((mi+1)% m,ni)((mi−1)% m,ni)In this case, (mi, ni) indicate the two-dimensional relative position ofa distance point in the traversal graph. The traversal graph generallystores the index of the point in both the spherical or Cartesian pointarrays, allowing for easy cross-referencing and updating, as will bedescribed.

Next, image processor 414 can process the collected data. This can bedone by adjusting for outliers, extrapolating data, and adjusting forimage scanning device 404 offset.

For instance, once the distance information has been determined byscanner 412, image processor 414 can remove outlier distance points. Asnoted, the distance points can be represented as distance values to aparticular location of the container or product in the container. Imageprocessor 414 can identify duplicate distance points. These values canoccur where there is more than one distance point for the same locationof the container. Such duplicate distance points are identified andremoved from the point cloud by image processor 414. In some cases,outliers are identified and overwritten with a median value determinedfrom neighbor distance points.

Image processor 414 can remove outlier distance points based on thelikelihood the distance point is a representation of a true reflectionof the container or product. For instance, the distance values of thedistance points may represent a Gaussian distribution. Those distancepoints that are greater than a predetermined distance from the mean maybe removed by image processor 414. In one example, those distance pointshaving values three or more standard deviations away from the mean areremoved by image processor 414.

Image processor 414 can remove additional outlier distance points of thepoint cloud using Delaunay triangulation. This method helps discountneighbors that are not within a statistically significant range so thatunassociated points are not grouped together.

If there are missing distance points, these distance points can beextrapolated. The missing distance points can be identified from thetraversal graph. To determine an extrapolated distance point to provideas the missing distance point, an average value can be determined fromneighbor distance point values for the neighbors of the missing distancepoint.

In many cases, an image scanning system is not positioned at a centrallocation of the container, but is offset from the center by a particulardistance. In cases where the image scanning system is not at the centrallocation, image processor 414 can adjust the point cloud as a simple wayto correct this offset.

Moreover, due to the rotation in the first and second directions, imagescanning device 414 is generally not stationary at a single point duringa scan. For instance, the emission and detection by image scanningdevice 414 is different at different points of rotation, such as if abody housing of the image scanning device is positioned perpendicular toa securing arm versus positioned parallel to the securing arm.Therefore, the origin of the point cloud moves depending on the angle ofbase housing. To account for this, each point can be translated by thedistance from the base to the emitter for a given angle of the basehousing, or other rotational component, which position and angle areknown due to the user of stepper motors, or other positionaldetermination method. The raw distance information comprising thedistance points can be adjusted based using the know emitter distancefrom the point of rotation. After adjusting the distance information,some of the distance points may be found to overlap in location. Theoverlapping points can be removed. Missing distance points can beextrapolated, as described above, and added to the distance information.

Image processor 414 can also be used to calibrate for the position ofthe image scanning device relative to the container. For instance, imagescanning device may not be positioned a central position relative to thewalls of the container, sometimes referred to as the eaves of thecontainer. This offset distance can be measured at the container. Forinstance, the distance value of the eave to the center of the containerand the distance value of the image scanning device to the center of thecontainer, can be measured and used to adjust for the point cloud. Thisis particularly helpful when determining a topography of the product. Toadjust for the location of the image scanning device not being at acentral location of the structure, the point cloud is moved so that alocation where the roof meets the eave is at the 0 of the vertical axis(y). If there is a skew in the points, rotate the point cloud to beparallel to the vertical axis (y).

To aid in adjusting the point cloud, image processor 414 calibrates theposition of the image scanning system comprising image scanning device404. For instance, an image scanning device may produce scan 500 shownin FIG. 9A. In some cases, scan 500 represents a scan after proceedingthrough the processing steps previously described. As will beunderstood, in some implementations, the scan may include area 502directly above the image scanning system. Area 502 in this exampleincludes an area, in this case a hemisphere, where images scanningdevice 404 was unable to measure distance points. Distance points can beretrieved that are located along an edge of the hemisphere of the scan.These points may include ni=0 and ni=n−1. An ellipse of best fit can beestimate using the Levenberg-Marquardt algorithm, identified generallyas function 504, illustrated in FIG. 9B, which provides an enhanced viewof a portion of FIG. 9A. Generally, by determining function 504, such asan ellipse, to represent the edge of area 502, the center point of area502 can be approximated. This center point comprises a location at whichthe image scanning system is secured to a container roof. As will bedescribed, function 504 and the location can be used to determinedistance values identifying the location of the image scanning systemrelative to the container. Function 504 in FIG. 9B illustrates thefunction determined for area 502 of FIG. 9A.

In some cases, it may be beneficial to adjust for tilt of the imagescanning system comprising image scanning. Tilt may occur where theimage scanning system is not perfectly perpendicular to level ground.During installation, the tilt is eliminated or reduced using somelocking systems provided herein. However, if an installation results inor requires some tilt, then this can be determined and adjusted for inthe data reprocessing. In general, an assumption can be made that thereis zero tilt.

If needed, to adjust for tilt of image scanning device 404, the tilt canbe stored as an array of two angles [α (alpha), β (beta)]. Here, α isthe rotation of the ellipse, and β is the vertical angle between thehorizontal plane and the ellipse (determined previously as function 504for area 502) using conic sections, which can be determined using theequation below:

$\beta = {\frac{\pi}{2} - {{atan}\left( \sqrt{\frac{1 - b^{2}}{a^{2}}} \right)}}$

In this equation, a is the length of the semi-major axis of the ellipse,and b is the length of the semi-minor axis of the ellipse previouslydetermined. These values will be used to determine distance values forthe image scanning system and the container, and may be used to adjustthe point cloud when isolating the product topography.

In some cases, distance values for the container, such as distance fromthe eaves to the center of the container, and distance values for thelocation of the image scanning device relative to the container, can bedetermined using the previously identified values. With reference toFIG. 9C, the figure illustrates ellipse 504 of FIG. 9B. Image scanningsystem has been placed at location (0, 0), which is not at a center(c_(x), c_(y)) of the ellipse, i.e., function 504.

To determine the distance values for adjusting the point cloud, theellipse can be divided into the four lengths r₁₋₄ that intersect atlocation (0,0) of the image scanning device. Further, r represents theradius of the ellipse, which in this case is circular in this particularcase. Using these representative lengths, center (c_(x), c_(y)), can berepresented as follows:

$\left( {c_{x},c_{y}} \right)\left( {\frac{r_{1} + r_{3}}{2},\frac{r_{2} + r_{4}}{2}} \right)$

Assuming that area 502 is circular, the center (c_(x), c_(y)),determined above, can be used to find the radius of function 504 at theimage scanning device using the equation below and sample points, whichcan include a distance point from the scan, such as a distance pointalong the edge of area 502 determined previously when calculatingfunction 504.

$r = \sqrt{\left( {x - c_{x}} \right)^{2} + \left( {y - c_{y}} \right)^{2}}$

Finally, the geometric relationship between area 502 of FIGS. 9A-9C andthe roof of the container can determined and the distance valuescalculated for each. Turning to FIG. 9D, the figure illustrates thegeometric relationship. Here, R is the radius of the container, assuminga cylindrical container. As illustrated, this is geometrically relatedto r, which is the radius of function 504. For instance, represented astriangles, the distance from the center (c_(x), c_(y)) to the eave isshown as h, which can now be determined using the equation below:h=(R−r)tan θ

With h and (c₁, c₂) now known, the distance from eave and distance fromcenter to be used in isolating the topography can be determined. Themethod may be enhanced by taking more than four samples, such as usingthe radii calculated when determining the tilt. This method is robust inthat determining the direction of each radius is not needed whendetermining the center. As described previously, once the distancevalues for the image scanning system and the container are known, eitherthrough initial measurement or the example calculation method described,the Cartesian coordinates can be rotated and translated such that theorigin is at the center of the eave and the tilt is zero.

Having determined the geometry of the container, image processor 414 canbe used to further process distance points to classify distance pointsas associated with the container or the product, or are otherwise noise.In doing so, it is possible to generate a highly accurate topography ofthe product, along with a highly accurate volume or volume change of theproduct.

One example method of doing so includes performing a scan of a containerhaving identical or substantially identical dimensions of the container.In another case, a scan of the container when empty can be performed. Ineither event, the scan may provide distance information in the form ofdistance points. Since the container is empty, the distance points caneach identified as associated with the container, e.g., the roof, walls,floor, hopper, or the like. This provides an expected point ofintersection for each distance point in a subsequent scan that isassociated with the container, specifically whether distance point ofthe subsequent scan is associate with the wall, roof, hopper, floor, orthe like. This information can be stored for reference when determiningwhether distance points of the subsequent scan are associated with theproduct, which aids in providing an accurate volume measurement andtopographical mapping.

During a subsequent scan, of the container with product or asubstantially similar container with product, distance points arecollected. The collected distance points of the subsequent scan can becompared to the store distance points of the prior scan of the emptycontainer or substantially similar empty container previously performed.If a distance points is significantly different from a distance point ofthe prior scan, then there is a probability that the distance point ofthe subsequent scan is associate with product, as opposed to a roof,wall, or so on. In another case, the distance point that issubstantially different from the prior scan distance points is noise, asopposed to grain. However, another method that will be described can beused to differentiate between a distance point associated with productas opposed to a distance point associated with noise.

One method to determine whether a distance point of the subsequent scanis substantially different from the prior scan is use defined referencethresholds for one or more of the container part. As an example, thefollowing reference thresholds have been found suitable: roof: 20%;walls: 5%; hopper: 1%; floor 1%. Any other part of the container canhave a reference threshold of 1%. That is, when a subsequent scan iscompleted, the distance points of the subsequent scan are compared tothat of the prior scan. Where subsequent scan distance points have adistance that is equal to or greater than prior scan distance points bya factor greater than the reference threshold, the subsequent scandistance points can be identified as product or noise. Those subsequentscan distance points that have a distance less than prior scan points bya factor less than the reference threshold, then the subsequent scandistance points can be identified as associated with a part of thecontainer, such as the roof, walls, and so forth. Those subsequent scandistance points, based on a distance to a prior scan distance point, canbe classified as roof, walls, or so forth based on the classification ofthe prior scan distance points. In implementations, image processor 414can remove one or more points associated that are classified as part ofthe container.

To further refine the dataset of distance points, distance pointsassociated with noise can be removed. To identify distance pointsassociated with noise, the subsequent scan distance points can becompared to the prior scan distance points. If a distance point of thesubsequent scan is greater than distance points of the prior scan forthe same classification, the greater subsequent scan distance point canbe classified as noise and removed. In some cases, a referencethreshold, such as 1%, can be applied to determine whether a subsequentscan distance point is greater than a prior scan distance point by afactor greater than the reference threshold. In general, this assumptionmay be made because it is assumed that the container defines thegreatest distances, as the product is held within the container.Therefore, distance points associated with the product should havedistances less than those distance points associated with the container.

Image processor 414 can further refine the dataset of distance points byreferences the previously generated traversal graph. To do so, imageprocessor 414 can identify a seed distance point. The seed point can beidentified from the dataset of distance points having removed distancepoints associated with the container and distance points associated withnoise, such as using the methods previously described. Of this dataset,the seed point can be identified by identifying the distance pointhaving the greatest measured distance from image scanning device 404. Aswill be understood, there is a high confidence that this point canaccurately be classified as associated with product.

Once the seed is identified, the traversal graph can be referenced todetermine distance points that are connected to the seed point, e.g., bydetermining whether a distance point is a neighbor distance point. Thiscan continue for those distance points determined to be neighbors bydetermining the next neighboring distance points. This continues untilall of the neighbors have been identified. Here, each of the identifiedneighbor distance points is connected to the seed distance point. Inthis way, terminal edges of the product are identified. Distance pointsof the dataset that are not connected with the seed distance point canbe classified as noise and removed. Volume determiner 416 may beemployed to estimate volume. This may include the product volume, e.g.,the volume of the product in the container, or an empty volume, e.g.,the volume of the area within the container not occupied by product. Twoexample methods for determining volume include determining the volumewithout removing distance points above the eave. Another determines thevolume while removing points above the eave. Using one or both of thesemethods is beneficial because, in some container configurations,distance points associated with the container roof introduce error intothe overall determination of the volume. As such, using both methodsprovides a way to compare the accuracy of the determined volume values.

For instance, volume determiner 416 can determine an empty volume of thecontainer. The empty volume includes the volume of the container notoccupied by the product. This can include the volume above the productin the container. One example method that can be employed by volumedeterminer 416 to calculate the empty volume is to determine atriangular mesh in the point cloud. Algorithms for determining atriangular mesh, such as a greedy surface triangulation algorithm areknown in the art. Once the point cloud has been triangulated, atetrahedron can be determined from the three distance points of eachtriangle to a point representative of the location of image scanningdevice 404, or another arbitrary point. Volume determiner 416 calculatesthe volume of each individual tetrahedron, each of which is summed todetermine the empty volume. In this way, the empty volume can becalculated within in a manner that includes the volume of the containerabove the eave.

As noted, however, the empty volume may also be calculated based onremoving the volume above the eave. In doing so, image processor 414removes the roof and walls of the container from the point cloud. Toremove the roof, all points below zero on the vertical axis, which hereis representative of the roof are removed. To remove distance pointsdefining the walls of the container, distance points that have adistance greater than or equal to a radius of the container, assumingthe container is cylindrical, are removed. A margin of equal to or lessthan 10% error can be applied at this stage. Further, methods previouslydescribed for classifying distance points as part of the container canbe employed, and those distance points for one or more of the containerroof, walls, and so forth can be removed. Scan 506 illustrates a pointcloud of distance points having removed distance points associated withthe roof of the container, and is provided as an example illustration.

Continuing with reference back to FIG. 8, volume determiner 416generally determines the volume of the product in the container, i.e.,the product volume or the product occupied volume. To do so, volumedeterminer 416 may reference a total container volume stored indatastore 408. The total container volume may be predetermined andstored. One method for determining the total container volume is forcontroller 402 to initiate a scan of an empty container, e.g., acontainer without product. The empty volume can be determined aspreviously described. The empty volume determined when no product ispresent in the container is provided as the total container volume.Another example method uses geometric calculations that will beunderstood by those of ordinary skill in the art. For instance, for acylindrical silo, the total container volume may be geometricallycalculated using standard calculations for determining the volume of acylinder. Volume determiner 416 may determine a product occupied volumeby scanning a container having a product to determine an empty volume.The difference between the total container volume and the empty volumefor a scan is one method of providing the product occupied volume of thecontainer. In an example, the product volume is the difference of theempty volume and the total container volume. The output product volumecan be communicated to computing device 410 for display at an interface.Volume determiner 416 can determine a product volume for subsequentscans by scanner 412. In this way, volume determiner 416 can determinethe volume of product added to or distributed from the container.

Volume determiner 416 may also determine a change in product volumebetween subsequent scans. For instance, during a first scan, a firstempty volume or a first product volume can be determined. During asecond scan, a second empty volume or a second product volume can bedetermined. Volume determiner 416 may determine a change in the productvolume using the difference between the first empty volume and thesecond empty volume, or the difference between the first product volumeand the second product volume.

As noted, image processor 414 may also generate a topography of theproduct in the container. Having performed one or more of the processingsteps, image processor 414 transforms remaining three-dimensionalcoordinates of the distance points into a one-dimensional array ofheights. This one-dimensional array of heights is representative of thetopography of the product in the container. The topography of theproduct can be communicated to computing device 410 for display at aninterface. An example of the one-dimensional product topography isillustrated as FIG. 10. As illustrated, container 600 comprises product602. Using the described methods, topography 604 is generated anddisplayed at an interface of a computing device. In the exampleillustrated by FIG. 10, the distance points within the topography havebeen triangulated, which can aid in other calculations, such as an emptyvolume, as well.

FIG. 11 provides an example method 1100 for manufacturing an imagescanning system. Method 1100 provides one example method ofmanufacturing those image scanning systems described herein, includingimage scanning system 100 of FIG. 1A.

At block 1102, an image scanning device is enclosed within an imagescanning head of an image scanning system. The image scanning device maybe any device for emitting or detecting a radiation wavelength. Theimage scanning device may further identify a time delay between emittedradiation and reflected detected radiation to determine a distance fromthe image scanning device to a location from which the radiation wasreflected. A suitable image scanning device comprises a LiDAR system.However, it will be understood that other devices measuring distanceusing electromagnetic radiation may be suitable as well.

The image scanning device is enclosed within an image scanning head. Theimage scanning head may be constructed of a material, such as a hardpolymer or metal. Methods of forming the image scanning head can includeadditive manufacturing methods, or other methods, such as milling. Theimage scanning head may be formed from a plurality of pieces andassembled using a fastener, such a rivet, screw, and the like. Thepieces may be affixed using methods such as gluing, welding, and thelike.

The image scanning head can be manufactured with a window that istransparent to the radiation wavelength emitted or detected by the imagescanning device. In one example, a face of the image scanning device ismilled, cut, or otherwise formed to include an opening having a sizecorresponding to a window size of the window. The window can be insertedinto the opening and affixed to the image scanning head by, for example,a glue, fastener and so forth.

A lens of the image scanning device can be aligned with the window. Thatis, the image scanning device is positioned such that radiation emittedat an emitter or received by a detector passes through the lens of theimage scanning device and the window of the image scanning head. Theimage scanning device, once positioned, can be secured using fastenerssuch that the image scanning device is stable within the image scanninghead during rotation of the components of the image scanning system.

At block 1104, the image scanning head is rotatably coupled to a basehousing of the image scanning device. A rotary joint may be used to formthe rotational coupling. A bi-directional, 360-degree rotary joint hasbeen found suitable for use. The image scanning head is coupled suchthat the image scanning head rotates about the base housing in a firstdirection. In cases where bi-directional rotation is provided, the imagescanning head may rotate forward and backward along the first direction(e.g., along a first plane of rotation). Wired connections fromcomponents of the image scanning head, such as power and communication,can be maintained through the rotary joint.

The method of manufacturing can further include configuring a firstmotor to rotate the image scanning head about the base housing. Asdescribed, the first motor can be brushless or brushed electric motor,for example. One suitable first motor is a stepper motor. The firstmotor can be secured in place within the base housing. A first motorshaft can be configured to rotate a portion of the rotary joint securedto the image scanning head, as has been described in a previous example,when the first motor is operational. The first motor can becommunicatively coupled to a controller, which may be included withinthe base housing, or another component of the image scanning system, orexternal to the base housing in a controller housing.

At block 1106, the base housing is rotatably coupled to a securing armof the image scanning system. The base housing may be formed ofmaterial, including a material described with reference to the imagescanning head. Likewise, similar manufacturing methods, such as additivemanufacturing, milling, construction from a plurality of individualcomponents may be used to construct the base housing.

A rotary joint, such as the one described with reference to block 1104,can be used to form the rotational coupling such that the base housingrotates about the securing arm. The rotation of the base housing aboutthe securing arm proceeds along a second direction. In cases wherebi-directional rotation is provided, the base housing may rotate forwardand backward in the second direction (e.g., along a second plane ofrotation). The second direction is perpendicular to the first direction.In some cases, the second direction is about perpendicular the firstdirection. In this way, the rotation of the image scanning head aboutthe base housing and the rotation of the base housing about the securingarm provides a mechanism by which a face of the window of the imagescanning head can be positioned toward any direction. Moreover, therotatory joint can provide for a wired connection, power orcommunication, of components within the base housing to componentsexternal to the base housing.

The method of manufacturing can further include configuring a secondmotor to rotate the base housing about the securing arm. As described,the second motor can be brushless or brushed electric motor, forexample. One suitable second motor is a stepper motor. The second motorcan be secured in place within the base housing. A second motor shaftcan be configured to rotate a portion of the rotary joint secured to thesecuring arm, as has been described in a previous example, when thesecond motor is operational. The second motor, along with any othercomponents, may be enclosed within the base housing.

In some aspects of the technology, the securing arm comprises a firstsecuring arm end and a second securing arm end that is opposite thefirst securing arm end. The base housing can be rotatably coupled to thefirst securing arm end. The base housing can be coupled to the securingarm such that, at a point during rotation, the base housing and theimage scanning head perpendicularly align with the securing arm. As willbe understood, as with other arrangements, this manufactured arrangementis one example.

A shaft can be further coupled to the securing arm. In an aspect, theshaft has a first shaft end and a second shaft end, opposite the firstshaft end. The first shaft end can be coupled to the first securing armend and extend therefrom. In some cases, the shaft is integrally formedwith the securing arm. That is, there may be no delineation between ashaft and the securing arm, but rather, these may include terminologyfor representing locations on an object.

In some implementations, the shaft is hollow, thus allowing wires, suchas those transmitting communication and power, to be threaded through ashaft channel of the shaft. A pipe can be used as the shaft. Any rigidshaft, such as a pipe formed from polyvinyl chloride (PVC), steel,aluminum, and the like, may be used. Some suitable shafts range indiameter from about ⅛ inch to ¾ inch. In a particular case, a shaft canrange in diameter from ⅛ inch to ¾ inch.

One suitable example method of coupling a shaft to the securing armincludes threading the first shaft end and threading a location of thesecond securing arm end, such that the threaded securing arm isconfigured to receive the threaded shaft. The shaft can be screwed atthe threadings into the securing arm. In some configurations, the shaftchannel can align with a securing arm channel. A wire for communicationor power can be inserted though the shaft channel into the securing armchannel and connect with the rotary joint coupling the base housing tothe securing arm such that communication and power can be provided tocomponents housed within the base housing and the image scanning head.

A brush can be positioned on the image scanning system. In somemanufacturing methods, the brush is coupled to a portion of the imagescanning system such that the brush is within a plane of rotation formedby rotation of the base housing about the securing arm. The brush can bepositioned such that, at a point during the rotation, the windowcontacts and moves across the brush. In an example, the brush is coupledto the securing arm at the second securing arm end. The brush can bepositioned at a same side of the securing arm as the rotary jointfacilitating rotation of the base housing about the securing arm. Thebrush may be made from any natural or synthetic material. The brush maybe sized such that the brush extends along the securing arm over adistance that is equal to or greater than a height of the window, asmeasured when the base housing is in a position parallel to the positionof the securing arm.

Turning to FIG. 12, an example method 1200 of measuring a product in acontainer is provided. Method 1200 may be performed using any of theimage scanning systems described herein. Aspects of method 1200 may beperformed by control system 400 of FIG. 8. In embodiments, one or morecomputer storage media having computer-executable instructions embodiedthereon that, when executed, by one or more processors, cause the one ormore processors to perform operations of method 1200. Method 1200 mayalso be performed as a computer-implemented method by a computingdevice.

At block 1202 of method 1200, a first scan of a product in a containeris performed. The scan can be performed by an image scanning deviceunder control of a controller. For instance, image scanning device 404of FIG. 8 can operate under control of controller 402 employing scanner412. When performing the scan, distance information may be collected fordistance points within the container, including distance pointsassociated with the product in the container. The distance points maycomprise distance values that indicate a distance from an image scanningdevice of the image scanning system to locations within the containercorresponding to the distance points.

Distance information received from the first scan can be processed usingany of the processing techniques described herein. For instance, imageprocessor 414 can be utilized to process the distance information. Atthis point, a product volume may be determined. This can be performed,for instance, by volume determiner 416 of FIG. 8. The product volume maybe provided for display at a user interface.

At block 1204, a second scan of the product can be performed. Similar toblock 1202, image scanning device 404 of FIG. 8 can operate undercontrol of controller 402 of FIG. 8 employing scanner 412 to perform thesecond scan. Similarly, distance information may be collected fordistance points within the container, including distance pointsassociated with the product in the container, as determined by thesecond scan.

Distance information received from the second scan can be processedusing any of the processing techniques described herein. For instance,image processor 414 can be can be utilized to process the distanceinformation. At this point, a product volume may be determined. This canbe performed, for instance, by volume determiner 416 of FIG. 8. Theproduct volume may be provided for display at a user interface.

As examples, image processor 414 may identify distance points, asdetermined during the first scan or the second scan, that are positionedabove an image scanning system position. The identified distance pointsthat are above the image scanning system position are removed. In somecases, this is performed prior to determining the volume change at block1206.

In another example, image processor 414 may identify a point cloudduring the first scan and the second scan. The distance points that havea distance greater than or equal to a radius, or other distance metric,of the container can be removed. This step can be performed for thepoint cloud determined for the first scan or the second scan. In somecases, this is performed prior to determining the volume change at block1206.

At block 1206, a product volume change is determined. The product volumechange can be determined by volume determiner 416 of FIG. 8. The productvolume change can be determined based on the first scan and the secondscan. That is, the difference between the product volume of the firstscan and the product volume of the second scan can provide the change inthe product volume. In another example, the empty volume is determinedfor the first scan and the empty volume is determined for the secondscan. The change in the empty volume can be determined to provide thechange in the product volume.

In some aspects, the product volume can be determined. The productvolume may include the volume occupied by the product in the container.When the total container volume is known, the product volume can bedetermined using the empty volume and total container volume. In somecases, the product volume for any scan can be determined and provided toa computing device for display on a user interface.

The product volume may change due to adding or distributing productbetween scans. Other factors, such as drying, may cause the productvolume to change. Said differently, the first scan and the second scancollect distance information of the product relative to the imagescanning system, and the volume change is determined based on a changein the distance information of the product between the first scan andthe second scan.

The change in product volume between the first scan and the second scanis provided to a computing device at block 1208 for display at aninterface of the computing device.

Turning to FIG. 13, an example method 1300 for manufacturing a lockingsystem is provided. Method 1300 may be suitable for manufacturing any ofthe locking systems described herein, such as locking system 200 of FIG.1B.

At block 1302, a first compressible material is formed. The firstcompressible material can be formed such that it includes a firstcompressible material top surface opposite a first compressible materialbottom surface. The first compressible material can be made of anycompressible material, such as a closed-cell or open-cell foam padding.Many synthetic materials are suitable for use as the first compressiblematerial. Some specific examples include neoprene, ethylene-vinylacetate (EVA), ethylene propylene diene monomer (EDPM), and so forth.Such synthetic foams have been found beneficial during use because oftheir ability to compress, while resisting degradation. The firstcompressible material can be formed by cutting the foam into aparticular size. In an aspect, the first compressible material is aboutequal to or less than 12 inches. In a specific case, the firstcompressible material is formed such that it is equal to or less than 12inches.

At block 1304, a second compressible material is formed. The secondcompressible material may comprise any of the materials described withrespect to the first compressible material. To form the secondcompressible material, the second compressible material can be cut to asize corresponding to the size of the first compressible material. Thesecond compressible material is formed such that the second compressiblematerial comprises a second compressible material top surface opposite asecond compressible material bottom surface.

At block 1306, a first securing plate is positioned between the firstcompressible material top surface and the second compressible materialbottom surface. The first securing plate is disposed between the firstcompressible material and the second compressible material. The firstsecuring plate may be sized to correspond to the first compressiblematerial or the second compressible material. The first securing platecan be formed of a hard polymer, metal, or the like. Stainless steel,aluminum, and the like, or alloys thereof are suitable for use. The sizeof the first securing plate can be formed by cutting, welding, and soforth.

In some aspects, the first compressible material or the secondcompressible material is affixed to the first securing plate. The firstcompressible material or the second compressible material can bepermanently affixed to the first securing plate. For instance, a glue orother bonding compound, or fastener, such as a tape, may be applied toaffix the first compressible material or the second compressiblematerial to the first securing plate.

At block 1308, a second securing plate is positioned adjacent to thesecond compressible material. In aspects, adjacent to the secondcompressible material includes adjacent to the second compressiblematerial top side. Adjacent may include the second compressible materialtop surface being in contact with the second securing plate. Block 1308can comprise forming the second securing plate to a size correspondingto the first securing plate. The second securing plate can comprise amaterial described with respect to the first securing plate.

In aspects, the first securing plate can be formed to include a curvededge that forms a first securing plate opening perimeter edge around afirst securing plate opening. The first securing plate opening can beformed by methods described herein, including cutting, puncturing, andso on. The first securing plate opening may be located at a centerposition of the first securing plate. The first securing plate openingcan include a first securing plate opening perimeter edge formed by thefirst curved edge of the first securing plate. In aspects, the firstperimeter edge is located inward from a first securing plate perimeteredge. The first securing plate can be positioned such that the curvededge is curved in a first direction away from the second compressiblematerial.

The second securing plate can also be formed to include a curved edge.The curved edge may form a second securing plate opening perimeter edgearound a second securing plate opening. In some aspects, the secondsecuring plate does not have a second securing plate opening, and thecurved edge is included as part of an indentation in the second securingplate. The first securing plate opening can be formed using any methoddescribed herein, such as cutting, puncturing, and so on. In aspectswhere the second securing plate comprises a second curved edge that ispart of an indentation, the indentation can be created by stamping thesecond securing plate with an object. In any event, the second securingplate opening or the second securing plate indentation can be located ata center position of the second securing plate. In aspects, the curvededge of the second securing plate is located inward from a secondsecuring plate perimeter edge. In aspects, the second securing plate canbe positioned such that the second securing plate opening or the secondsecuring plate indentation is aligned with the first securing plateopening.

In one manufacturing method example, the first securing plate and thesecond securing plate are dimensionally the same. That is, two securingplates may be manufactured to the same specifications. Inverting onesecuring plate relative to the other securing plate provides the firstsecuring plate and the second securing plate.

In a particular case, the second compressible material can be affixed tothe second securing plate. The second compressible material can bepermanently affixed to the securing plate. A glue or other bondingcompound, or fastener, such as a tape, may be applied to affix thesecond compressible material to the second securing plate. In an aspect,the second compressible material is not affixed to the second securingplate.

The method of manufacturing may also include forming one or more firstfastener holes within the first securing plate. One or more secondfastener holes can be formed within the second securing plate. The oneor more first fastener holes and the one or more second fastener holescan be formed on the first securing plate and the second securing plate,respectively, such that the one or more first fastener holes and the oneor more second fastener holes align when the second securing plate ispositioned atop the first securing plate when the locking system isassembled. The one or more fastener holes may be formed by any methoddescribed herein, including cutting, drilling, milling, and so forth.

At block 1310, a ball is positioned at least partially within the firstcurved edge and the second curved edge. The ball can be positioned suchthat a center of the ball is disposed between the first securing plateand the second securing plate. The ball may be formed of any hardmaterial, including hard polymers, metal, or the like. The ball can beformed of a compressible material, such as a compressible polymer,rubber, or the like. A compressible ball can also be beneficial in thatthe ball compresses when the securing plates apply force to the ball.This more tightly holds the ball in place because it distorts itsspherical shape, which provides enhanced locking, since thenon-spherical shape is less likely to rotate within the curved edges ofthe securing plates due to the distortion. In aspects, the ball has adiameter about equal to or less than three inches. In particular cases,the ball has a diameter equal to or less than three inches.

A ball channel can be formed in the ball. The ball channel may extendfrom one side of the ball to an opposite side of the ball, extendingthrough the center of the ball. The ball channel can be formed using anymethods described herein, including drilling. The ball may be positionedsuch that one of the ball channel openings corresponds with the firstsecuring plate opening. The ball channel may be formed using any of themethods described herein, including created through aggregatemanufacturing methods, drilling, milling, and so forth.

The manufacturing methods may further include coupling a shaft to theball. The shaft may have a first shaft end and a second shaft end. Thefirst shaft end can be configured, for example by threading, to coupleto the ball and extend outward therefrom. The shaft can have a shaftchannel, e.g., a hollow shaft, and the shaft can be coupled to the ballso that the shaft channel corresponds with the ball channel such thatthe shaft channel fluidly extends into the ball channel. In some cases,a wire may be inserted into the ball channel and extend into the shaftchannel. The wire may extend from a first ball channel opening at afirst ball side through the ball channel and out of a second ballchannel opening at the second ball side opposite the first ball side.

In aspects, a controller housing can be coupled directly or indirectlyto the second securing plate. An opening within the controller housingcan be formed at a location where the controller housing couples withthe locking system, such that the ball channel of the locking systemopens into the controller housing.

With reference now to FIG. 14, an example method 1400 of using a lockingsystem is provided. At block 1402, a locking system is provided. Thelocking system can be any locking system described herein. For example,locking system 200 of FIG. 1B is suitable for use. Providing the lockingsystem may include manufacturing, receiving, assembling, and so forth.

At block 1404, a first securing plate opening is aligned with a securingsurface opening. The securing surface can include a surface of acontainer. The securing surface may be the roof of the container. Anymethod described herein can be used to form the securing surfaceopening, including cutting the opening from the securing surface. Thesecuring surface opening can be formed to have a size (e.g., width,diameter) that is less than a size of a first securing plate. Thelocking system can be positioned such that the first securing surfaceopening is positioned inward from a first securing plate perimeter edge.In aspects, the first securing plate opening perimeter edge of the firstsecuring plate opening, when the locking system is positioned, islocated inward from a securing surface opening perimeter edge of thesecuring surface.

When positioning the locking system, a shaft can be inserted through thesecuring surface opening. The shaft may extend from the locking systempositioned on a first side of the securing surface through the securingsurface opening and into a second side of the securing surface. As willbe understood, the shaft may support an image scanning system on the endopposite the locking system that is within the container on the secondside of the securing surface.

At block 1406, one or more fasteners are secured into the securingsurface. Using locking system 200 as an example, as illustrated by FIG.6A and FIG. 6B, fasteners 240A and 240B can extend through secondsecuring plate 208 and first securing plate 204. Fasteners 240A and 240Bcan be inserted through a second fastener hole of second securing plate,through a first fastener hole of first securing plate and secured intothe securing surface. In the example shown, fasteners 240A and 240B alsoextend through second compressible material 206 and first compressiblematerial 202. However, it should be understood that in somearrangements, the one or more fasteners do not extend through a firstcompressible material or a second compressible material.

When engaging the fasteners, first securing plate 204 and secondsecuring plate 208 are moved to a distance that is relatively closer,compressing second compressible material 206. Put another way, secondcompressible material 206 is transitioned from an expanded state to acompressed state. This causes a force to be applied to ball 234, therebyincreasing the force required to rotate ball 234, and in turn shaft 110.

The ball feature is beneficial in that it provides a way to secure thelocking system at an angle relative to the shaft. This is helpful asmany containers do not have flat roofs, but instead, the roofs arepitched to some degree. In this way, the locking system can be placed atan angle on the securing surface, and the ball rotates so that the shaftis perpendicular with a level ground surface. Thus, when the lockingsystem is locked into place, an image scanning system, held in place bythe shaft and the locking system, naturally moves to the correctorientation and stays in that orientation, even during movement of theimage scanning system. Thus, based on the fastener being secured intothe securing surface, the shaft is locked into a shaft position, wherethe shaft position forms an angle that is less than 90 degrees relativeto the first securing plate.

In this way, the locking system is locked in place and secured to thesecuring surface. In those implementations of the locking system using afirst compressible material, such as locking system 200, the firstcompressible material compresses against the securing surface forming aseal between the locking securing surface and the locking system,helping to prevent moisture and other elements from entering thesecuring surface opening.

Having described an overview of embodiments of the present technology,an example operating environment in which some embodiments of thepresent technology may be implemented is described below in order toprovide a general context for various aspects.

Referring now to FIG. 15, in particular, an example operatingenvironment for implementing embodiments of the present technology isshown and designated generally as computing device 1500. Computingdevice 1500 is but one example of a suitable computing environment andis not intended to suggest any limitation as to the scope of use orfunctionality of the technology. Neither should computing device 1500 beinterpreted as having any dependency or requirement relating to any oneor combination of components illustrated.

Some aspects of the technology of the present disclosure may bedescribed in the general context of computer code or machine-useableinstructions, including computer-executable instructions such as programmodules, being executed by a computer or other machine, such as apersonal data assistant or other handheld device. Generally, programmodules, including routines, programs, objects, components, datastructures, etc. refer to code that perform particular tasks orimplement particular abstract data types. The technology may bepracticed in a variety of system configurations, including hand-helddevices, consumer electronics, general-purpose computers, more specialtycomputing devices, etc. The technology may also be practiced indistributed computing environments whereby tasks are performed byremote-processing devices that are linked through a communicationsnetwork.

With reference still to FIG. 15, computing device 1500 includes bus 1502that directly or indirectly couples the following devices: memory 1504,one or more processors 1506, one or more presentation components 1508,input/output ports 1510, input/output components 1512, and illustrativepower supply 1514. Bus 1502 represents what may be one or more busses(such as an address bus, data bus, or combination thereof). Although thevarious blocks of FIG. 15 are shown with lines for the sake of clarity,in reality, delineating various components is not so clear, andmetaphorically, the lines would more accurately be grey and fuzzy. Forexample, one may consider a presentation component, such as a displaydevice, to be an I/O component. As another example, processors may alsohave memory. Such is the nature of the art, and it is again reiteratedthat the diagram of FIG. 15 merely illustrates an example computingdevice that can be used in connection with one or more embodiments ofthe present technology. Distinction is not made between such categoriesas “workstation,” “server,” “laptop,” “hand-held device,” etc., as allare contemplated within the scope of FIG. 15 and reference to “computingdevice.”

Computing device 1500 typically includes a variety of computer-readablemedia. Computer-readable media can be any available media that can beaccessed by computing device 1500 and includes both volatile andnonvolatile media, and removable and non-removable media. By way ofexample, and not limitation, computer-readable media may comprisecomputer storage media and communication media.

Computer storage media includes volatile and nonvolatile, removable andnon-removable media implemented in any method or technology for storageof information, such as computer-readable instructions, data structures,program modules or other data. Computer storage media includes, but isnot limited to, RAM, ROM, EEPROM, flash memory or other memorytechnology, CD-ROM, digital versatile disks (DVD) or other optical diskstorage, magnetic cassettes, magnetic tape, magnetic disk storage orother magnetic storage devices, or any other medium which can be used tostore the desired information and which can be accessed by computingdevice 1500. Computer storage media excludes signals per se.

Communication media typically embodies computer-readable instructions,data structures, program modules or other data in a modulated datasignal such as a carrier wave or other transport mechanism and includesany information delivery media. The term “modulated data signal” means asignal that has one or more of its characteristics set or changed insuch a manner as to encode information in the signal. By way of example,and not limitation, communication media includes wired media such as awired network or direct-wired connection, and wireless media such asacoustic, RF, infrared, and other wireless media. Combinations of any ofthe above should also be included within the scope of computer-readablemedia.

Memory 1504 includes computer storage media in the form of volatile ornonvolatile memory. The memory may be removable, non-removable, or acombination thereof. Example hardware devices include solid-statememory, hard drives, optical-disc drives, etc. Computing device 1500includes one or more processors that read data from various entitiessuch as memory 1504 or I/O components 1512. Presentation component(s)1508 present data indications to a user or other device. Examples ofpresentation components include a display device, speaker, printingcomponent, vibrating component, etc.

I/O ports 1510 allow computing device 1500 to be logically coupled toother devices including I/O components 1512, some of which may be builtin. Illustrative components include a microphone, joystick, game pad,satellite dish, scanner, printer, wireless device, and so forth.

Embodiments described above may be combined with one or more of thespecifically described alternatives. In particular, an embodiment thatis claimed may contain a reference, in the alternative, to more than oneother embodiment. The embodiment that is claimed may specify a furtherlimitation of the subject matter claimed.

The subject matter of the present technology is described withspecificity herein to meet statutory requirements. However, thedescription itself is not intended to limit the scope of thisdisclosure. Rather, the inventors have contemplated that the claimed ordisclosed subject matter might also be embodied in other ways, toinclude different steps or combinations of steps similar to the onesdescribed in this document, in conjunction with other present or futuretechnologies. Moreover, although the terms “step” or “block” might beused herein to connote different elements of methods employed, the termsshould not be interpreted as implying any particular order among orbetween various steps herein disclosed unless and except when the orderof individual steps is explicitly stated.

For purposes of this disclosure, the word “including” or “having” hasthe same broad meaning as the word “comprising,” and the word“accessing” comprises “receiving,” “referencing,” or “retrieving.”Further, the word “communicating” has the same broad meaning as the word“receiving,” or “transmitting” facilitated by software or hardware-basedbuses, receivers, or transmitters using communication media. Also, theword “initiating” has the same broad meaning as the word “executing or“instructing” where the corresponding action can be performed tocompletion or interrupted based on an occurrence of another action.

In addition, words such as “a” and “an,” unless otherwise indicated tothe contrary, include the plural as well as the singular. Thus, forexample, the constraint of “a feature” is satisfied where one or morefeatures are present. Furthermore, the term “or” includes theconjunctive, the disjunctive, and both (a or b thus includes either a orb, as well as a and b).

Unless otherwise stated, the term “coupling,” and the like, may beaffixing, either directly or indirectly, two components. Coupledcomponents may be removably secured or permanently affixed unlessotherwise stated. Further, the term is not meant to imply a particularmethod of affixing components together.

For purposes of a detailed discussion above, embodiments of the presenttechnology are described with reference to a distributed computingenvironment; however, the distributed computing environment depictedherein is merely an example. Components can be configured for performingnovel aspects of embodiments, where the term “configured for” or“configured to” can refer to “programmed to” perform particular tasks orimplement particular abstract data types using code.

From the foregoing, it will be seen that this technology is one welladapted to attain all the ends and objects described above, includingother advantages that are obvious or inherent to the structure. It willbe understood that certain features and subcombinations are of utilityand may be employed without reference to other features andsubcombinations. This is contemplated by and is within the scope of theclaims. Since many possible embodiments of the described technology maybe made without departing from the scope, it is to be understood thatall matter described herein or illustrated in the accompanying drawingsis to be interpreted as illustrative and not in a limiting sense.

Some example aspects of the technology that may be practiced from theforgoing disclosure include the following:

Aspect 1: A locking system comprising: a first compressible materialhaving a first compressible material bottom surface opposite a firstcompressible material top surface; a second compressible material havinga second compressible material bottom surface opposite a secondcompressible material top surface; a first securing plate disposedbetween the first compressible material top surface and the secondcompressible material bottom surface, the first securing platecomprising a first curved edge forming a first securing plate openingperimeter edge around a first securing plate opening, the first curvededge curving in a first direction away from the second compressiblematerial; a second securing plate adjacent to the second compressiblematerial top surface, the second securing plate comprising a secondcurved edge, the second curved edge curving in a second direction awayfrom the second compressible material; and a ball positioned at leastpartially within the first curved edge of the first securing plate andthe second curved edge of the second securing plate.

Aspect 2: Aspect 1, wherein the second curved edge forms a secondsecuring plate opening perimeter edge around a second securing plateopening.

Aspect 3: Any of Aspects 1-2, further comprising a fastener extendingthrough the first securing plate and the second securing plate.

Aspect 4: Aspect 3, wherein the fastener further extends through thefirst compressible material and the second compressible material.

Aspect 5: Any of Aspects 1-4, further comprising a shaft extending fromthe ball in the first direction.

Aspect 6: Aspect 5, wherein the ball comprises a ball channel and theshaft comprises a shaft channel, the ball channel extending from a firstball side opposite a second ball side, the shaft being coupled to theball at the first ball side, and wherein the ball channel opens into theshaft channel at the first ball side.

Aspect 7: Aspect 6, further comprising a wire extending through the ballchannel and the shaft channel, the wire extending outward from the ballchannel at the second ball side.

Aspect 8: A method of manufacturing a locking system, the methodcomprising: forming a first compressible material such that the firstcompressible material comprises a first compressible material bottomsurface opposite a first compressible material top surface; forming asecond compressible material such that the second compressible materialcomprises a second compressible material bottom surface opposite asecond compressible material top surface; positioning a first securingplate between the first compressible material top surface and the secondcompressible material bottom surface, the first securing platecomprising a first curved edge forming a first securing plate openingperimeter edge around a first securing plate opening, the first curvededge curving in a first direction away from the second compressiblematerial; positioning a second securing plate adjacent to the secondcompressible material top surface, the second securing plate comprisinga second curved edge, the second curved edge curving in a seconddirection away from the second compressible material; and positioning aball at least partially within the first curved edge of the firstsecuring plate and the second curved edge of the second securing plate.

Aspect 9: Aspect 8, wherein the second curved edge forms a secondsecuring plate opening perimeter edge around a second securing plateopening.

Aspect 10: Any of Aspects 8-9 further comprising forming a firstfastener hole within the first securing plate and a second fastener holewithin the second securing plate, wherein the first fastener hole andthe second fastener hole align when the first securing plate ispositioned and the second securing plate is positioned.

Aspect 11: Aspect 10, further comprising affixing the first compressiblematerial to the first securing plate.

Aspect 12: Any of Aspects 8-11, further comprising coupling a shaft tothe ball, wherein the shaft is coupled to the ball at a second shaft endand extends away from the ball toward a first shaft end.

Aspect 13: Aspect 12, wherein the ball comprises a ball channel and theshaft comprises a shaft channel, the ball channel extending from a firstball side opposite a second ball side, the shaft being coupled to theball at the first ball side, and wherein the ball channel opens into theshaft channel at the first ball side.

Aspect 14: Aspect 13, further comprising inserting a wire into the ballchannel and the shaft channel, wherein the wire extends outward from theball channel at the second ball side.

Aspect 15: A method of using a locking system, the method comprising:providing a locking system comprising: a first compressible materialhaving a first compressible material bottom surface opposite a firstcompressible material top surface; a second compressible material havinga second compressible material bottom surface opposite a secondcompressible material top surface; a first securing plate disposedbetween the first compressible material top surface and the secondcompressible material bottom surface, the first securing platecomprising a first curved edge forming a first securing plate openingperimeter edge around a first securing plate opening, the first curvededge curving in a first direction away from the second compressiblematerial; a second securing plate adjacent to the second compressiblematerial top surface, the second securing plate comprising a secondcurved edge, the second curved edge curving in a second direction awayfrom the second compressible material; and a ball positioned at leastpartially within the first curved edge of the first securing plate andthe second curved edge of the second securing plate; aligning a securingsurface opening of a securing surface with the first securing plateopening such that the securing surface opening is inward from a firstsecuring plate perimeter edge; and securing a fastener into the securingsurface, wherein the fastener extends through the first securing plateand the second securing plate.

Aspect 16: Aspect 15, wherein the fastener further extends through thefirst compressible material and the second compressible material.

Aspect 17: Any of Aspects 15-16, wherein the locking system furthercomprises a shaft extending from the ball in the first direction.

Aspect 18: Aspect 17, further comprising inserting the shaft through thesecuring surface opening.

Aspect 19: Any of Aspects 15-18, wherein the second compressiblematerial transitions from an expanded state to a compressed state whenthe fastener is secured into the securing surface.

Aspect 20: Any of Aspects 15-19, wherein, based on the fastener beingsecured into the securing surface, the shaft is locked into a shaftposition, the shaft position forming an angle relative to the firstsecuring plate, and wherein the angle is less than 90 degrees.

Aspect 21: An image scanning system for measuring product volume in acontainer, the system comprising: an image scanning head comprising animage scanning device; a base housing, the image scanning head beingrotatably coupled to the base housing, wherein the image scanning headrotates about the base housing in a first direction; and a securing arm,the base housing being rotatably coupled to the securing arm, whereinthe base housing rotates about the securing arm in a second directionabout perpendicular to the first direction.

Aspect 22: Aspect 21, wherein the securing arm comprises a firstsecuring arm end and a second securing arm end opposite the firstsecuring arm end, and wherein the base housing is rotatably coupled tothe securing arm at the first securing arm end.

Aspect 23: Aspect 22, further comprising a shaft coupled to the securingarm at the second securing arm end and extending therefrom.

Aspect 24: Aspect 23, further comprising a controller, the controllerpositioned within a controller housing, wherein the shaft is coupled tothe securing arm at a first shaft end, the shaft extending to a secondshaft end, and wherein the controller housing is coupled to the shaft atthe second shaft end.

Aspect 25: Any of Aspects 21-24, wherein the image scanning head furthercomprises a window, the window being transparent to a radiationwavelength emitted by an emitter of the image scanning device.

Aspect 26: Any of Aspects 25, further comprising a brush positionedwithin a plane of rotation formed from rotation of the base housingabout the securing arm, such that the brush engages the window duringrotation of the base housing about the securing arm.

Aspect 27: Any of Aspects 21-26, wherein the base housing comprises afirst motor configured to rotate the base housing about the securing armand a second motor configured to rotate the image scanning head aboutthe base housing.

Aspect 28: A method of manufacturing an image scanning system, themethod comprising: enclosing an image scanning device within an imagescanning head; rotatably coupling the image scanning head to a basehousing such that the image scanning head rotates about the base housingin a first direction; and rotatably coupling the base housing to asecuring arm such that the base housing rotates about the securing armin a second direction about perpendicular to the first direction.

Aspect 29: Aspect 28, wherein the securing arm comprises a firstsecuring arm end and a second securing arm end opposite the firstsecuring arm end, and wherein the base housing is rotatably coupled tothe securing arm at the first securing arm end.

Aspect 30: Aspect 29, further comprising coupling a shaft to thesecuring arm at the second securing arm end such that the shaft extendsaway from the securing arm.

Aspect 31: Any of Aspects 28-30, communicatively coupling a first motorand a second motor to a controller configured to operably control thefirst motor and the second motor, wherein the first motor is configuredto rotate the base housing about the securing arm and the second motoris configured to rotate the image scanning head about the base housing.

Aspect 32: Aspect 31, wherein the controller is positioned within acontroller housing and is communicatively coupled to the first andsecond motor by at least one wire, the wire extending through a securingarm channel to the controller within the controller housing.

Aspect 33: Any of Aspects 28-32, further comprising coupling a window tothe image scanning head, the window being transparent to a radiationwavelength emitted by an emitter of the image scanning device.

Aspect 34: Any of Aspects 33, further comprising positioning a brushwithin a plane of rotation formed from rotation of the base housingabout the securing arm, such that the brush engages the window duringrotation of the base housing about the securing arm.

Aspect 35: One or more computer storage media storing computer-readableinstructions that when executed by a processor, cause the processor toperform a method of measuring product in a container, the methodcomprising: performing a first scan of a product in a container using animage scanning system, wherein the image scanning system comprises: animage scanning head comprising an image scanning device; a base housing,the image scanning head being rotatably coupled to the base housing,wherein the image scanning head rotates about the base housing in afirst direction; and a securing arm, the base housing being rotatablycoupled to the securing arm, wherein the base housing rotates about thesecuring arm in a second direction about perpendicular to the firstdirection; performing a second scan of product in the container usingthe image scanning system, wherein the first scan and the second scanare performed by the image scanning device based on rotation of theimage scanning head in the first direction and the base housing in thesecond direction; determining a volume change of the product within thecontainer based on the first scan and the second scan; and providing thevolume change to a computing device for display on an interface.

Aspect 36: Aspect 35, wherein the first scan and the second scan collectdistance information of the product relative to the image scanningsystem, and the volume change is determined based on a change in thedistance information of the product between the first scan and thesecond scan.

Aspect 37: Any of Aspects 35-36, further comprising: identifyingdistance points positioned above an image scanning system position, thedistance points identified during the first scan and the second scan;and removing the identified distance points positioned above the imagescanning device prior to determining the volume change.

Aspect 38: Any of Aspects 35-37, further comprising: identifying a pointcloud during the first scan and the second scan; determining distancepoints of the point cloud that are greater than or equal to a radius ofthe container; and removing the determined distance points from thepoint cloud prior to determining the volume change.

Aspect 39: Any of Aspects 35-38, further comprising: determining a firstempty volume of the container from the first scan; and determining asecond empty volume of the container from the second scan, wherein thevolume change of the product is determined based on the differencebetween the first empty volume and the second empty volume.

Aspect 40: Aspect 39, further comprising: determining a product occupiedvolume based on a difference between the total container volume and thefirst empty volume of the container or the second empty volume of thecontainer; and providing the determined product occupied volume to acomputing device for display on an interface.

Any of Aspects 21-40 may be used in conjunction with any of Aspects1-20.

What is claimed is:
 1. A locking system comprising: a first compressiblematerial having a first compressible material bottom surface opposite afirst compressible material top surface; a second compressible materialhaving a second compressible material bottom surface opposite a secondcompressible material top surface; a first securing plate disposedbetween the first compressible material top surface and the secondcompressible material bottom surface, the first securing platecomprising a first curved edge forming a first securing plate openingperimeter edge around a first securing plate opening, the first curvededge curving in a first direction away from the second compressiblematerial; a second securing plate adjacent to the second compressiblematerial top surface, the second securing plate comprising a secondcurved edge, the second curved edge curving in a second direction awayfrom the second compressible material; and a ball positioned at leastpartially within the first curved edge of the first securing plate andthe second curved edge of the second securing plate.
 2. The lockingsystem of claim 1, wherein the second curved edge forms a secondsecuring plate opening perimeter edge around a second securing plateopening.
 3. The locking system of claim 1, further comprising a fastenerextending through the first securing plate and the second securingplate.
 4. The locking system of claim 3, wherein the fastener furtherextends through the first compressible material and the secondcompressible material.
 5. The locking system of claim 1, furthercomprising a shaft extending from the ball in the first direction. 6.The locking system of claim 5, wherein the ball comprises a ball channeland the shaft comprises a shaft channel, the ball channel extending froma first ball side opposite a second ball side, the shaft being coupledto the ball at the first ball side, and wherein the ball channel opensinto the shaft channel at the first ball side.
 7. The locking system ofclaim 6, further comprising a wire extending through the ball channeland the shaft channel, the wire extending outward from the ball channelat the second ball side.
 8. A method of manufacturing a locking system,the method comprising: forming a first compressible material such thatthe first compressible material comprises a first compressible materialbottom surface opposite a first compressible material top surface;forming a second compressible material such that the second compressiblematerial comprises a second compressible material bottom surfaceopposite a second compressible material top surface; positioning a firstsecuring plate between the first compressible material top surface andthe second compressible material bottom surface, the first securingplate comprising a first curved edge forming a first securing plateopening perimeter edge around a first securing plate opening, the firstcurved edge curving in a first direction away from the secondcompressible material; positioning a second securing plate adjacent tothe second compressible material top surface, the second securing platecomprising a second curved edge, the second curved edge curving in asecond direction away from the second compressible material; andpositioning a ball at least partially within the first curved edge ofthe first securing plate and the second curved edge of the secondsecuring plate.
 9. The method of manufacturing of claim 8, wherein thesecond curved edge forms a second securing plate opening perimeter edgearound a second securing plate opening.
 10. The method of manufacturingof claim 8, further comprising forming a first fastener hole within thefirst securing plate and a second fastener hole within the secondsecuring plate, wherein the first fastener hole and the second fastenerhole align when the first securing plate is positioned and the secondsecuring plate is positioned.
 11. The method of manufacturing of claim10, further comprising affixing the first compressible material to thefirst securing plate.
 12. The method of manufacturing of claim 8,further comprising coupling a shaft to the ball, wherein the shaft iscoupled to the ball at a second shaft end and extends away from the balltoward a first shaft end.
 13. The method of manufacturing of claim 12,wherein the ball comprises a ball channel and the shaft comprises ashaft channel, the ball channel extending from a first ball sideopposite a second ball side, the shaft being coupled to the ball at thefirst ball side, and wherein the ball channel opens into the shaftchannel at the first ball side.
 14. The method of manufacturing of claim13, further comprising inserting a wire into the ball channel and theshaft channel, wherein the wire extends outward from the ball channel atthe second ball side.
 15. A method of using a locking system, the methodcomprising: providing a locking system comprising: a first compressiblematerial having a first compressible material bottom surface opposite afirst compressible material top surface; a second compressible materialhaving a second compressible material bottom surface opposite a secondcompressible material top surface; a first securing plate disposedbetween the first compressible material top surface and the secondcompressible material bottom surface, the first securing platecomprising a first curved edge forming a first securing plate openingperimeter edge around a first securing plate opening, the first curvededge curving in a first direction away from the second compressiblematerial; a second securing plate adjacent to the second compressiblematerial top surface, the second securing plate comprising a secondcurved edge, the second curved edge curving in a second direction awayfrom the second compressible material; and a ball positioned at leastpartially within the first curved edge of the first securing plate andthe second curved edge of the second securing plate; aligning a securingsurface opening of a securing surface with the first securing plateopening such that the securing surface opening is inward from a firstsecuring plate perimeter edge; and securing a fastener into the securingsurface, wherein the fastener extends through the first securing plateand the second securing plate.
 16. The method of use of claim 15,wherein the fastener further extends through the first compressiblematerial and the second compressible material.
 17. The method of use ofclaim 15, wherein the locking system further comprises a shaft extendingfrom the ball in the first direction.
 18. The method of use of claim 17,further comprising inserting the shaft through the securing surfaceopening.
 19. The method of use of claim 15, wherein the secondcompressible material transitions from an expanded state to a compressedstate when the fastener is secured into the securing surface.
 20. Themethod of use of claim 15, wherein, based on the fastener being securedinto the securing surface, the shaft is locked into a shaft position,the shaft position forming an angle relative to the first securingplate, and wherein the angle is less than 90 degrees.